Modeling and control aspects of a UAV with an attached manipulator

Stergiopoulos, Yiannis; Kontouras, Efstathios; Γκούντας, Κωνσταντίνος; Giannousakis, Konstantinos; Tzes, Anthony

doi:10.1109/med.2016.7535922

Cited by 13 publications

(13 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Compared to the depicted experimentation of this book chapter the induced forces from such operation are calculated to be in the area of 10 to 100 N. Subsequently, although the existing position controller of the ArduCopter flight stack is able to withhold a proper pose while ultrasound scanning of inclined areas, advanced control techniques [49] will be utilized in the sequel. The authors intend to test the efficiency of the built-in attitude controller of the ArduCopter flight stack, as well as exploit the adaptive backstepping control strategies in [48,49] and other (model predictive) control techniques. The implementation of such controllers relies on the ability to directly control the angular velocity of the drone's motors independently, at rates greater or equal to 1 kHz.…”

Section: Conclusion/discussionmentioning

confidence: 99%

See 1 more Smart Citation

Development of a Versatile Modular Platform for Aerial Manipulators

Evangeliou¹,

Τσουκαλάς²,

Giakoumidis³

et al. 2020

Service Robotics

Self Cite

View full text Add to dashboard Cite

The scope of this chapter is the development of an aerial manipulator platform using an octarotor drone with an attached manipulator. An on-board spherical camera provides visual information for the drone’s surroundings, while a Pan-Tilt-Zoom camera system is used to track targets. A powerful computer with a GPU offers significant on-board computational power for the visual servoing of the aerial manipulator system. This vision system, along with the Inertial Management Unit based controller provides exemplary guidance in confined and outdoor spaces. Coupled with the manipulator’s force sensing capabilities the system can interact with the environment. This aerial manipulation system is modular as far as attaching various payloads depending on the application (i.e., environmental sensing, facade cleaning and others, aerial netting for evader-drone geofencing, and others). Experimental studies using a motion capture system are offered to validate the system’s efficiency.

show abstract

Section: Conclusion/discussionmentioning

confidence: 99%

“…The indoor position hold scheme of Section 3.2 was expanded [48,49] so as to utilize the manipulator in a surface ultra-sound scanning scenario. The surface is placed at 45° angle in an a-priori known position.…”

Section: Aerial Manipulationmentioning

confidence: 99%

Development of a Versatile Modular Platform for Aerial Manipulators

Evangeliou¹,

Τσουκαλάς²,

Giakoumidis³

et al. 2020

Service Robotics

Self Cite

View full text Add to dashboard Cite

show abstract

“…Modelling of UAM is based on the coupling effect of the manipulator arm on UAV as external disturbances and vice versa as in [17] and [18]. The configuration of the manipulator arm in relation to the inertial fixed frame, F W is given as rotation matrix:…”

Section: Modelling Of Uammentioning

confidence: 99%

Sliding Mode Control with Adaptive Gain of Quadrotor with Rigid Manipulator

Anuar

Plestan

Chriette

et al. 2021

2021 20th International Conference on Advanced Robotics (ICAR)

View full text Add to dashboard Cite

HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L'archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d'enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.

show abstract

“…Incorporating a tip sensor involves either having a larger gripper or manufacturing of extremely small transducers. The general overviews on the tactile sensors without a specific focus on use in the surgical robotics can be seen in [45][46][47][48]. In [46], the focus of the overview was extended to electronic skin technologies, whereas in [45] the effective utilization of the tactile skin takes the contact condition into special consideration.…”

Section: Tactile Sensors For Medical Roboticsmentioning

confidence: 99%

Service Robotics

2020

View full text Add to dashboard Cite

After his PhD. he did research in Singapore as an MIT (Massachusetts Institute of Technology) researcher in the Future Urban Mobility (FM) group. His research interests are based on the artificial intelligence for robotics and automotive technology. More specifically autonomous/semi-autonomous ground vehicles, active safety, robot autonomy and energy efficiency of hybrid electric vehicles are the main subjects of his research. Sinan Öncü received his B.Sc. degree in electronics and telecommunications engineering and his M.Sc. degree in mechatronics engineering from Istanbul Technical University (ITU), in 2005 and 2008, respectively, and his Ph.D. degree in mechanical engineering from the Eindhoven University of Technology (TU/e), in 2014. From 2013 to 2016, he was a research scientist at the Integrated Vehicle Safety Department, Netherlands Organization for Applied Scientific Research (TNO) Technical Sciences. Since 2019, he has been an assistant professor in the Mechanical Engineering Department at Boğaziçi University where he is also the Director of Smart and Autonomous Mobility Research Lab. His research focuses on cooperative localization, sensing, control, and coordination of automated air and ground vehicles with a particular focus on automotive and mobile robotics applications.

show abstract

Modeling and control aspects of a UAV with an attached manipulator

Cited by 13 publications

References 5 publications

Development of a Versatile Modular Platform for Aerial Manipulators

Development of a Versatile Modular Platform for Aerial Manipulators

Sliding Mode Control with Adaptive Gain of Quadrotor with Rigid Manipulator

Service Robotics

Contact Info

Product

Resources

About